8 layers

Foc control

BLDC field-oriented-control board for a humanoid robot actuator. KiCad 10, Ø80 mm, 8 layers, 1.6 mm.

Copper layers: 8
Thickness: 1.6 mm
Parts: 104
Nets: 100
Pads: 442
Tracks, vias: 621, 249
Pours: 25
Routed: Yes
KiCad: KiCad 10.0 (file 20260206)
Created: 22 Oct 2026
Updated: 23 Oct 2026

Overview

Foc control is an open-source printed circuit board by sujaygouda123, from the sujaygouda123/foc-control repository on GitHub. It is an 8-layer board with 104 parts on 100 nets, routed with 621 tracks and 249 vias.

It is built around the STM32G474RET3, MCP2562FD-E/SN and LM5164DDAR, with the AS5047P-ATSM, DRV8353SRTAR and AP2112K-3.3 among its other parts. Its parts include 46 capacitors, 22 resistors, 7 ICs, 6 transistors and 5 connectors. It belongs with the robots and motor control boards and the STM32 boards of this library.

Main components

README

README.md

FOC CONTROL REV A

BLDC field-oriented-control board for a humanoid robot actuator. KiCad 10, Ø80 mm, 8 layers, 1.6 mm.

Top	Bottom

Main parts

Function	Part
MCU	STM32G474RET3
Gate driver	DRV8353S
MOSFETs	6 × BSC040N10NS5 (100 V, 4 mΩ)
Current sensing	3 × 1 mΩ low-side shunts
Position	AS5047P magnetic encoder (bottom side)
CAN FD	MCP2562FD, 2 × XT30PW 2+2 (power + CAN)
Supplies	2 × LM5164 (12 V, 5 V), AP2112K (3.3 V)

Stage 1 – single actuator

Stage 1 block diagram

Stage 2 – multiple actuators

Stage 2 wiring

One cable per link: VBUS + GND (16 AWG) and CAN-H / CAN-L as a twisted pair.
Two XT30 2+2 connectors per board (IN, OUT), 15 A continuous.
120 Ω termination only at the two ends of each bus (JP1 on the last actuator).

Stackup

Layer	Use
F.Cu, 2 oz	Components, power pours
In1	GND
In2	Signals
In3	VBUS
In4	GND
In5	Signals
In6	GND
B.Cu, 2 oz	Phase pours, encoder

Inner layers are 1 oz. Power runs on the 2 oz outer layers; every signal layer sits next to a plane.

JLCPCB rules

Rule	JLCPCB minimum (2 oz)	This board
Track / gap	0.15 / 0.15 mm	0.2 / 0.15 mm (0.15 mm only at fine-pitch pins)
Via diameter / hole	0.25 / 0.15 mm	0.45 / 0.2 mm
Copper to board edge	0.2 mm	0.5 mm

Trace widths

Net class	Width	Gap
Signals	0.2 mm	0.15 mm
Gate drive	0.3 mm	0.15 mm
High voltage (VBUS, phases)	0.5 mm, power in pours	0.2 mm
CAN pair	0.2 mm	0.2 mm between the pair

File structure

text

foc-control/
├── foc-control.kicad_pro        KiCad 10 project (open this)
├── foc-control.kicad_sch        Root schematic (links the 6 sheets below)
├── can_connectors.kicad_sch     XT30 connectors, MCP2562FD CAN FD transceiver, termination
├── encoder.kicad_sch            AS5047P magnetic encoder
├── MCU.kicad_sch                STM32G474, clock, decoupling, reset/boot, SWD pads
├── power_rails.kicad_sch        12 V and 5 V bucks (LM5164), 3.3 V LDO
├── gate_driver.kicad_sch        DRV8353 gate driver
├── power_stage.kicad_sch        3 half-bridges, shunts, bus capacitors, VBUS sense, NTC
├── foc-control.kicad_pcb        Ø80 mm, 8-layer board layout
├── fp-lib-table                 Project footprint libraries (points to libs/)
├── sym-lib-table                Project symbol libraries (points to libs/)
├── libs/
│   ├── foc-control.kicad_sym    DRV8353 symbol
│   ├── DRV8353.pretty/          DRV8353 footprint (WQFN-40)
│   ├── XT30/                    XT30PW 2+2 symbol, footprint and 3D model
│   └── logo.pretty/             Board logo
├── bom/
│   └── foc-control.csv          Bill of materials
└── docs/
    ├── Stage1/Stage1.drawio.png Stage 1 block diagram (single actuator)
    ├── Stage2/Stage2.drawio.png Stage 2 wiring diagram (multiple actuators)
    └── img/                     3D renders of the board (top, bottom)

Category and platform

Robots and motor control STM32

Project files

Show this board on your page

https://pcbkit.io/boards/sujaygouda123/foc-control

The board's own page, for a message or a post.

Source

Repository: sujaygouda123/foc-control
Board file: foc-control.kicad_pcb
Commit: 207d8fc
Licence: Not stated

Parts

104

Qty	Value	Footprint	References
13	100 nF 16V X7R	Capacitor_SMD:C_0603_1608Metric	C1, C2, C3, C4, C6, C7, C8, C9, C10, C12, C16, C40, C47
7	1 µF 16V X7R	Capacitor_SMD:C_0603_1608Metric	C5, C13, C31, C32, C35, C38, C39
7	2.2 µF 100V X7R	Capacitor_SMD:C_1210_3225Metric	C17, C18, C24, C25, C41, C42, C43
6	BSC040N10NS5ATMA1	Package_TO_SOT_SMD:TDSON-8-1	Q1, Q2, Q3, Q4, Q5, Q6
4	10 kΩ	Resistor_SMD:R_0603_1608Metric	R2, R3, R14, R15
4	MountingHole_3.2mm_M3	MountingHole:MountingHole_3.2mm_M3	H1, H2, H3, H4
3	1mΩ 1W WSL25121L000FEA	Resistor_SMD:R_2512_6332Metric	R17, R18, R19
3	NetTie_2	NetTie:NetTie-2_SMD_Pad0.5mm	NT1, NT2, NT3
2	2.2 nF 50V X7R	Capacitor_SMD:C_0603_1608Metric	C19, C26
2	22 µF 16V X7R	Capacitor_SMD:C_1210_3225Metric	C28, C30
2	22 µF 25V X7R	Capacitor_SMD:C_1210_3225Metric	C22, C23
2	27 pF 50V C0G	Capacitor_SMD:C_0603_1608Metric	C14, C15
2	3.3 nF 50V X7R	Capacitor_SMD:C_0603_1608Metric	C20, C27
2	47 µF 100V	Capacitor_SMD:CP_Elec_10x10	C44, C45
2	49.9 kΩ 1%	Resistor_SMD:R_0603_1608Metric	R6, R11
2	68 µH	Inductor_SMD:L_Bourns_SRN6045TA	L1, L2
2	LM5164DDAR	Package_SO:HSOP-8-1EP_3.9x4.9mm_P1.27mm_EP2.41x3.1mm_ThermalVias	U4, U5
1	+3V3	TestPoint:TestPoint_Pad_D1.0mm	TP4
1	10 nF 16V X7R	Capacitor_SMD:C_0603_1608Metric	C46
1	10 µF 16V X5R	Capacitor_SMD:C_0603_1608Metric	C11
1	10 µF 25V X7R	Capacitor_SMD:C_1206_3216Metric	C34
1	100 nF 25V X7R	Capacitor_SMD:C_0603_1608Metric	C33
1	100k	Resistor_SMD:R_0603_1608Metric	R16
1	100k 1%	Resistor_SMD:R_0603_1608Metric	R4
1	100k 1%	Resistor_SMD:R_1206_3216Metric	R20
1	10k 1%	Resistor_SMD:R_0603_1608Metric	R22
1	120 Ω 1%	Resistor_SMD:R_0603_1608Metric	R1
1	158k 1%	Resistor_SMD:R_0603_1608Metric	R10
1	180 pF 50V C0G	Capacitor_SMD:C_0603_1608Metric	C29
1	1M 1%	Resistor_SMD:R_0805_2012Metric	R12
1	200k 1%	Resistor_SMD:R_0805_2012Metric	R9
1	3.3k 1%	Resistor_SMD:R_0603_1608Metric	R21
1	41.2k 1%	Resistor_SMD:R_0603_1608Metric	R8
1	453 kΩ 1%	Resistor_SMD:R_0603_1608Metric	R5
1	453k 1%	Resistor_SMD:R_0805_2012Metric	R7
1	47 nF 100V X7R	Capacitor_SMD:C_0805_2012Metric	C36
1	56 pF 50V C0G	Capacitor_SMD:C_0603_1608Metric	C21
1	82k 1%	Resistor_SMD:R_0603_1608Metric	R13
1	ABM3B-8.000MHZ-B2-T	Crystal:Crystal_SMD_Abracon_ABM3B-4Pin_5.0x3.2mm	Y1
1	AP2112K-3.3	Package_TO_SOT_SMD:SOT-23-5	U6
1	AS5047P-ATSM	Package_SO:TSSOP-14_4.4x5mm_P0.65mm	U2
1	BUS_IN	XT30:CONN-TH_4P-XT30PW-M	J1
1	BUS_OUT	XT30:CONN-TH_4P-XT30PW-M	J2
1	CAN_TERM	Jumper:SolderJumper-2_P1.3mm_Open_RoundedPad1.0x1.5mm	JP1
1	DRV8353SRTAR	DRV8353:RTA0040B	U7
1	GND	TestPoint:TestPoint_Pad_D1.0mm	TP5
1	LOGO	logo:sujay_logo	G***
1	MCP2562FD-E/SN	Package_SO:SOIC-8_3.9x4.9mm_P1.27mm	U1
1	MOTOR_A	Connector_Wire:SolderWire-1.5sqmm_1x01_D1.7mm_OD3.9mm	J3
1	MOTOR_B	Connector_Wire:SolderWire-1.5sqmm_1x01_D1.7mm_OD3.9mm	J4
1	MOTOR_C	Connector_Wire:SolderWire-1.5sqmm_1x01_D1.7mm_OD3.9mm	J5
1	NRST	TestPoint:TestPoint_Pad_D1.0mm	TP1
1	NTC 10k	Resistor_SMD:R_0603_1608Metric	TH1
1	STM32G474RET3	Package_QFP:LQFP-64_10x10mm_P0.5mm	U3
1	SWCLK	TestPoint:TestPoint_Pad_D1.0mm	TP3
1	SWDIO	TestPoint:TestPoint_Pad_D1.0mm	TP2

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Questions

What parts does the Foc control use?

104 parts, built around the STM32G474RET3, MCP2562FD-E/SN, LM5164DDAR and AS5047P-ATSM. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.

Where can I download the Foc control KiCad files?

From the sujaygouda123/foc-control repository on GitHub, at the commit this page was made from: the board is foc-control.kicad_pcb and its schematic MCU.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the Foc control design in my own project?

Its repository states no licence, so its author keeps all rights: ask sujaygouda123 before reusing the design.

Foc control

Overview

Main components

STM32G474RET3

MCP2562FD-E/SN

LM5164DDAR

AS5047P-ATSM

DRV8353SRTAR

AP2112K-3.3

BSC040N10NS5ATMA1

UUX2A470MNL1GS

SRN6045TA-680M

ABM3B-8.000MHZ-B2-T

XT30PW(2+2)-M.G.B

NCP18XH103F03RB

README

FOC CONTROL REV A

Main parts

Stage 1 – single actuator

Stage 2 – multiple actuators

Stackup

JLCPCB rules

Trace widths

File structure

Parts

Similar boards

Better md80

Ax7010 servo reva

Modular rack power carrier6-backplane1-rev a

DashMotor48V

DashMotor48V

VariometerV2.2.1

Stepper driver pcb

KiBot Project Test

Questions

What parts does the Foc control use?

Where can I download the Foc control KiCad files?

Can I use the Foc control design in my own project?